Check out this Robot that uses Kinect for Mapping that Sean Anderson, Kirk MacTavish, Daryl Tiong, Aditya Sharma from University of Waterloo built for their 4th year project.
“Current accomplishments:
– Optical Flow using Shi Tomasi Corners
– Visual Odometry using Shi Tomasi and GPU SURF
. . . . Features undergo RANSAC to find inliers (in green)
. . . . Least Squares is used across all inliers to solve for rotation and translation
– Loop closure detection using a dynamic feature library
– Global Network Optimization for loop closure”